text: #pragma once
  
  #include <mtlog/badbotlogger.hpp>
  #include <sharedstorage/sharedstrings.hpp>
  #include <thread>
  #include <chrono>
  
  #include <boost/signals2.hpp>
  #include "controllerbase.hpp"
  
  using namespace std;
  using namespace boost;
  
  class TeleopController :  public ControllerBase
  {
  
      protected:
          //min dist when to stop moving, max distance how much to act within
          int _OBSTACLE_DIST;
          int vX;
          int vY;
  
      public:
          TeleopController();
          bool init();
          bool cleanup();
          void calculateNextFrame();
          void setVelocity(int vX, int vY);
  };